System and method for securely delivering packages to different delivery recipients with a single vehicle

ABSTRACT

A delivery system and method for delivering packages to multiple recipients uses a mobile robot having a delivery package space suitable for accommodating at least two packages, at least one package sensor configured to output first data reflective of the presence or absence of packages within with package space, at least one processing component configured to receive and process the package sensor&#39;s first data and at least one communication component configured to at least send and receive second data. The mobile robot travels to a first delivery location, permits a first recipient to access the package space, and identifies the first recipient&#39;s package to the first recipient. The system and method use data from the package sensor to verify that the first recipient removed only his or her package, if other package(s) are also present. The mobile robot then travels to a second delivery location associated with a second recipient.

RELATED APPLICATIONS

This is a Continuation of U.S. patent application Ser. No. 16/430,013filed Jun. 3, 2019, now U.S. Pat. No. 11,138,545, which is a BypassContinuation of International Application No. PCT/EP2017/080720, filedNov. 28, 2017. Priority is claimed to (i) EP 16201961.6 filed Dec. 2,2016, and to (ii) U.S. patent application Ser. No. 15/367,249 filed Dec.2, 2016, now U.S. Pat. No. 9,741,010. The contents of the aforementionedapplications are incorporated by reference in their entirety.

FIELD

The invention relates to delivery of packages by a mobile robot. Moreparticularly, the invention relates to security measures for roboticpackage delivery.

BACKGROUND

The sector of delivery has been developing and growing with incrediblespeed in the last years. With the onset of online shopping, deliverybecame an essential part of everyday life. However, delivering tocustomer's doors or mailboxes incurs large costs, energy expenditures,carbon emissions and other undesirable effects. A large part of theseeffects can be attributed to so-called last mile delivery, or the laststretch of the way between the delivery origin location (often a largewarehouse) and the end customer or delivery recipient. Some companiesoffer to deliver to a nearby location instead of directly delivering tothe end customer. For example, DHL offers a network of “PackingStations” combined with partner businesses where multiple packages forend customers living within a reasonable distance can be left. Whilethis reduces the negative consequences of last mile delivery, thedelivery recipient is inconvenienced as a result, as they must retrievetheir package from some other location instead of receiving it at home.

Furthermore, delivery is often restricted by normal working hours in agiven country—it is uncommon to receive a package on the weekend (or onSunday in some countries), or late in the evening.

All of those problems can be solved by introducing robotic delivery. Arobot can run on electricity and require little energy, and it can alsodeliver at any time outside the normal working hours. Small robotsoperating on pedestrian walkways would not contribute to traffic andcould efficiently take on last mile delivery. Several solutions forautonomous or semi-autonomous delivery are known already, as mentionedbelow.

U.S. Pat. No. 9,256,852 discloses a package delivery platform. Anautonomous road vehicle is operative to receive destination information,and to drive to a destination based on the destination information. Apackage securing subsystem is attached to the autonomous road vehicleand comprises at least one securable compartment. Each securablecompartment is operative to secure at least one package therein. Eachsecurable compartment is associated with compartment access information.An access subsystem comprising at least one access informationinterface. The access subsystem is operative, upon receipt through theaccess information interface of compartment access information, topermit access to the compartment associated with the receivedcompartment access information.

US patent application 2014/0254896 A1 describes a system and method fordelivering mail and goods using a mobile robot drone system. The methodmay comprise self-moving the mobile robot drone system to a mail orgoods receiving location. Itinerary to the mail or goods receivinglocation is determined based on itinerary data received from a GPS unit.In the location, the mobile robot drone system receives the mail orgoods via a mail and goods compartment and then delivers the mail orgoods to a predefined location. Based on user instructions, the mobilerobot drone system electronically signs receipt verification documentsor performs payment by displaying a payment barcode encoding userpayment information. After delivering the mail or goods, the mobilerobot drone system provides access to the mail and goods compartment.

U.S. Pat. No. 9,373,149 discloses an autonomous neighborhood vehiclecontrollable through a neighborhood social network. In one embodiment,an autonomous neighborhood vehicle can autonomously navigate to adestination specified by a user of the neighborhood social network.

In one embodiment, a computer system of the autonomous neighborhoodvehicle is communicatively coupled to the neighborhood social networkthrough a wireless network to autonomously navigate to a destinationspecified by the user of the neighborhood social network. A navigationserver provides a remote sensing capability to the autonomousneighborhood vehicle. A particular user of a third-party application isauthenticated as being a verified user of the neighborhood socialnetwork having a verified residential address. An information of theparticular user is communicated to the third-party application from theneighborhood social network based on a personal address privacypreference of the particular user.

The present invention is intended for parcel delivery robots thattransport parcels to recipients. Such robots can travel in a public area(streets, sidewalks, parks) or a private area (warehouses, campuses,shopping malls), and they could be remotely operated, semi-autonomous orautonomous (self-driving). Such robots usually have one or multiplecargo compartments where parcels are stored during transport. Thecompartment(s) are usually locked during transport, and the intendedrecipient is able to open the compartment(s). It is advantageous thatsuch robots carry more than one parcel at a time, usually deliveringthem to different recipients; on an average, this allows to deliver moreparcels per distance travelled, reducing energy usage.

In some known prior art robots, each parcel is stored in a separatecompartment. This is the most secure arrangement, since each compartmentcould be individually locked, and each recipient could have physicalaccess to only the one compartment that stores the parcels intended forhim/her. However, this has the disadvantage that each compartment needsto be sized to accommodate the maximum possible parcel size. Often, thatmaximum parcel size is many times larger than the average parcel size,leading to a large amount of wasted space in cargo compartments. This inturn leads to a large and heavy robot.

The present invention describes an alternative arrangement, whereparcels intended for multiple recipients are stored in the samecompartment; in one case, the robot only has a single cargo compartment,where all the parcels are stored. This allows to significantly reducethe total size and weight of the robot (often by a factor of 2 or more),leading to reduced energy usage for transporting parcels. Safety is alsoimproved: a lighter robot will cause less damage when (unintentionally)colliding with a person or an object. However, in such robots,recipients have physical access to parcels not intended for them.Therefore, a recipient might take the wrong parcel, either intentionally(theft) or unintentionally (by mistake). Therefore, some technicalmeasures are needed to reduce the chances of that happening. In thisinvention, a multitude of such measures are described, which could beused individually or in combination with each other.

SUMMARY

The present invention is specified in the claims as well as in the belowdescription. Preferred embodiments are particularly specified in thedependent claims and the description of various embodiments.

In a first embodiment, the invention discloses a delivery method fordelivering a first package to a first delivery recipient at a firstdelivery location. The method comprises providing a mobile robotcomprising at least one package space containing at least first andsecond packages for delivery, at least one package sensor, at least oneprocessing component and at least one communication component. Themethod further comprises the mobile robot travelling to the firstdelivery location and enabling access to the package space to the firstdelivery recipient. The delivery method also comprises identifying tothe first delivery recipient the first package that the first deliveryrecipient is authorized to remove from the package space. The methodfurther comprises verifying that the first delivery recipient onlyremoved the first package, said verification performed using the atleast one package sensor of the mobile robot. The method also comprisesdetermining whether a second package intended for a second deliveryrecipient remains in the package space. The method further comprises themobile robot travelling to a second delivery location only if the secondpackage remains in the package space.

In a second embodiment, the invention provides a mobile robot adapted toat least securely deliver a first package to a first delivery recipientat a first delivery location. The mobile robot can comprise at least onepackage space configured to hold at least two packages. The mobile robotcan further comprise at least one package sensor adapted to at leastmeasure first data reflective of the presence or absence of at least onepackage. The mobile robot can also comprise at least one processingcomponent adapted to at least receive the package sensor's first dataand process it. The mobile robot can further comprise at least onecommunication component adapted to at least send and receive seconddata.

In some preferred embodiments, the package sensor can be adapted tomeasure first data relating to the package removed from the packagespace and/or first data relating to the packages within the packagespace. That is, such first data can comprise information about thecontents of the package space and/or about the package that is no longerpresent within the package space. This first data can then be processedin order to ascertain that only the first package, that is, the correctpackage, has been removed from the package space. The correct or firstpackage refers here to the package that the first delivery recipient isentitled to remove from the package space. That is, the package that iseither addressed to them, and/or to a person within their householdand/or business and/or to a person and/or business that has authorizedthe first delivery recipient to receive the package. Put differently,the first delivery recipient's package or the correct package refers tothe package that is to be delivered to the specific address and/orperson and/or business at which the first delivery recipient receivesthe package.

In some preferred embodiments, the package sensor can be adapted tomeasure first data reflective of the presence or absence of each of aplurality of packages in the package space, and also the identity ofeach such package by virtue of a package ID such as a barcode, a QR codeor a similar code and/or other specific package characteristic such asdimensions, weight, visual characteristics, RF tags and so on. Thus, theprocessing component and/or a server that the robot is adapted tocommunicate with via its communication component, and thereby anoperator at the initial terminal and/or at the remote terminal, willknow which package(s) is/are in the package space, at any given instant.

In some preferred embodiments, the processing component of the mobilerobot is adapted to determine whether only the first package has beenremoved from the package space. This can be done by processing thepackage sensor's first data directly on the robot, and is describedbelow in more detail. Note, that in some embodiments, the processingcomponent of the robot is adapted to process the package sensor's firstdata only superficially in order to forward it to external processingmeans, such as an external server.

In some preferred embodiments, the communication component of the mobilerobot is adapted to communicate with at least one server. Preferably,the communication component exchanges second data relating to therobot's packages with the server. The server can be a remote server, acloud server and/or a collection of servers. It can be adapted toprocess second data received from the robot's communication componentand output commands for the robot, and/or contact a remote terminal thatcan then control the robot. This is described below in more detail. Thecommunication component of the robot can send sensor data and/or seconddata received either directly from the robot's sensors and/or from theprocessing component of the robot.

In the present document, the terms “first data”, “second data” and“sensor data” are used. The term “first data” refers to the datacollected, obtained, extracted and/or measured by the package sensor.This first data can be related to the contents of the package space,that is, the packages present within it. This first data can also berelated to the contents missing from the package space, that is, theones that have been removed from the package space, for example by thedelivery recipient. For example, in embodiments wherein the packagesensor comprises a camera, first data can refer to camera images takenby said camera. The term “second data” refers to the data that thecommunication component can send and/or receive. This second data cancomprise first data in some embodiments. Referring again to the examplewhere the package sensor comprises a camera, the communication componentcan be adapted to send images taken by said camera. In this case, seconddata can comprise first data. Second data can also comprise processedand/or pre-processed data. For example, referring again to the sameexample, the processing component of the robot can be adapted topre-process and/or to process first data from the camera (that thepackage sensor can comprise), that is, camera images. This can, forexample, mean compressing the images, changing the colour scheme of theimages, performing preliminary analysis of the images, and or addingcertain tags to the images such as a date, a time, a location and so on.Then, the communication component can then send such pre-processedimages to the server. This, then would also comprise second data.However, second data can also comprise information and/or commands thatthe server sends to the robot and that the communication componentreceives. Going back to the same example, the server can fully processthe images taken by the camera (that the package sensor can comprise),reach a conclusion on whether the correct package has been retrieved,and send this information to the robot. In some embodiments, the servercan also send a command to the robot, such as “start an alarm” or “flashthe lights” in case an incorrect package has been removed, or “close thelock” or “depart the delivery location” in case the correct package hasbeen removed. Therefore, the term “second data” can refer to a pluralityof data types that the robot's communication component can send andreceive, preferably to and from the remote server. The term “sensordata” can refer herein to data from other sensors that the robot cancomprise. That is, in some embodiments, the robot comprises sensors suchas a GPS component, a plurality of cameras, accelerometers, Lidarsensors, ultrasonic sensors and other sensors for autonomous and/orsemi-autonomous navigation. The communication component can also senddata from those other sensors. This data is referred to herein, forclarity reasons, as “sensor data”.

In some embodiments, the robot's processing component is adapted toprocess sensor data (other than the package sensor) to determinesubsequent course of action for the robot. That is, the processingcomponent can be adapted to use the robot's sensor data to navigate toand from the delivery location, as well as control the deliveringprocess itself. The sensors other than the package sensor that themobile robot can comprise include but are not limited to at least one ormore GPS modules, one or more visual modules such as cameras, one ormore audio modules for two-way communication, one or moreaccelerometers, one or more gyroscopes, one or more compasses, one ormore Time of Flight cameras, one or more ultrasonic sensors, one or moreLidar (light radar) components, one or more laser based sensors, one ormore magnetometers, one or more stereo visual modules such as stereocameras, one or more altitude sensors, and/or one or more odometers.

The steps of the delivery method as described in the first embodimentcan also be performed in a different order. For example, the step ofidentifying the correct package to the delivery recipient among multiplepackages can be performed before the step of the mobile robot travellingto a delivery location. This step, in fact, can be performed as soon asthe mobile robot is loaded with packages, for example, by taking apicture of the package space with the packages inside it, indicating onthe picture and/or image (if the picture is processed for example) whichpackage belongs to the first delivery recipient, and sending the picturewith such identification to the first delivery recipient (additionallyor alternatively, the picture can be taken of the first package itselfoutside of the package space to indicate what it looks like, and/or thedelivery recipient can be sent a generated image of what the packagelooks like). This can, for example mean that the correct package ishighlighted on the image, or framed by a certain colour, or indicatedwith an arrow, or similarly indicated. This is advantageous, as thefirst delivery recipient can see, prior to the robot's arrival with thepackage, its exact arrangement within the robot and with respect toother packages within the robot's package space and the characteristicsof the package, such as its shape, dimensions, and/or colour.Additionally or alternatively, each package can be provided with acertain visual and/or graphical identification making it easy torecognize for the first delivery recipient. For example, a package canbe clearly marked with the name of the recipient, or, if privacy is aconcern, with a certain graphical identifier such as a shape, a colourand/or a symbol. This visual and/or graphical identification or sign canthen be sent to the first delivery recipient by the robot'scommunication component and/or by a server prior to package retrievalfrom the robot. This can be particularly advantageous if the packagespace is such that the packages can move within it during the robot'stravel from an initial location to the first delivery location. In suchcases, the final arrangement of different packages within the robot canbe different than the one shown on the picture sent to the firstdelivery recipient, and it can be helpful to have an additional way ofidentifying the correct package. In some embodiments, the recipient canbe sent only a graphical sign that identifies the package (that is, thesign is present on the package). In some embodiments, the recipient canbe prompted to select such a sign themselves.

In some embodiments, the step of the robot travelling to a deliverylocation comprises the robot semi-autonomously and/or autonomouslydriving from an initial location to the first delivery location. Thatis, the robot can be adapted to autonomously navigate in an outdoorenvironment. In some embodiments, the robot can navigate autonomouslybetween 50 to 99% of the total delivery time and/or of the totaldistance travelled. That is, the robot can navigate and travelautonomously for most of the way from an initial location to the firstdelivery location and be controlled by an operator terminal and/or anexternal operator for the rest of the time/distance. In someembodiments, such an operator terminal can be a remote operator. Thiscan be particularly advantageous in hazardous situations, such as therobot crossing a street with car traffic, or the robot engaging withpedestrians and/or cyclists. The remote operator can, for example,receive sensor data from the robot, interpret it, and send the robot acommand for further operation. In some embodiments, the remote operatorcan comprise a human operator. This can be advantageous, as humans canevaluate a situation quickly using multiple sensor input and resolve it,allowing the robot to continue operating autonomously. The remoteoperator can, for example, evaluate sensor data from the robot's sensorsto determine whether it is safe to cross a car road. In anotherembodiment, the remote operator can engage with the robot's surroundingssuch as pedestrians, for example via a microphone and speakers. This canbe particularly advantageous when a pedestrian and/or a cyclist and/or adriver is trying to interact with the robot, for example by touching it.In such cases, a remote operator can indicate that the robot is beingsurveyed and communicate with the pedestrian and/or cyclist and/ordriver more effectively. When a hazardous or unusual setting is nolonger present, the robot can switch back to an autonomous mode andcontinue autonomous navigation and travelling to its destination. Such amode where the robot travels autonomously for some time and is beingcontrolled by a remote operator for some time can be referred to assemi-autonomous mode, or semi-autonomous driving or semi-autonomoustravel. In some embodiments, a remote operator may also be a serverand/or a computation engine and can be referred to as a remote terminal.

In some embodiments, the step of enabling access to the package space ofthe robot and/or within the robot comprises automatically detecting thatthe delivery location has been reached and opening a lid. That is, therobot's sensors such as a GPS module can detect that the robot is withina certain threshold of the delivery location and automatically open thelid of the package space. Additionally or alternatively, an electroniclid present on or around the lid may be opened when the robot detectsthat the delivery location has been reached. That is, the robot'sprocessing component can unlock the electronic lock automatically. Thiscan be advantageous, as it saves time for the delivery recipient who canthen access the package space directly. Additionally or alternatively,the robot can unlock the electronic lock and/or open the lid of thepackage space when receiving an “open” input. Such an input can, forexample originate from the delivery recipient. As a specific example,consider the case where the delivery recipient has a personal computingdevice such as a mobile phone, a tablet, an electronic watch, electronic“smart” glasses, smart contact lenses and/or another computing deviceand gives an “open” input from such a personal computing device, forexample via an app. Such an “open” input can comprise a command and/or asignal, and can, in practice, be a certain button within an app on thedelivery recipient's personal device that sends the “open” signal to therobot. In some such embodiments, the delivery recipient can use thepersonal computing device to request the delivery by the robot, forexample request delivery at a certain time and location. This can alsobe done via an app or another interface on the delivery recipient'spersonal computing device. This can be advantageous, as the deliveryrecipient can first approach the robot and then send the “open” signalto ensure that no unauthorized persons get access to the package spaceof the robot. Another advantage is that if the delivery recipient is forsome reason unable to immediately approach the robot and remove theirpackage, the package space will remain closed until the deliveryrecipient actively requests it to open. Additionally or alternatively,the robot can detect the vicinity of the delivery recipient, for examplevia the vicinity of their personal computing device. Additionally oralternatively, the “open” command or input can also originate from theremote terminal such as a remote operator. In this case, the remoteterminal can detect that the robot has reached the desired deliverylocation and send the robot a command to unlock the electronic lockand/or to open the robot's lid. For example, the remote operator canobserve that the robot approached a correct house at the deliverylocation and that a person is standing in front of said house, deducingthat the person is the delivery recipient and sending the robot thecommand to provide access to the package space. In some embodiments, theremote operator can even address the person or persons they deem to bethe delivery recipient in order to confirm their identity verbally,visually, via their personal computing device, and/or otherwise.

As specified above, the robot comprises a package sensor. Such a packagesensor can comprise one or a combination of a plurality of sensors. Inthis document, the package sensor is referred to in the singular, but itcan also comprise multiple sensors operating in concurrence and/orproviding additional information and/or acting as failsafes in case oneor more of the sensors that the package sensors comprises fails.

In some embodiments, the package sensor can be configured to measurefirst data reflective of the presence or absence of each of a pluralityof packages in the package space, and the identity of each such package.That is, the package sensor can measure data which can be used todetermine exactly which packages remain within the package space.Consequently, it can also be used to determine exactly which packageshave been removed from the package space.

The package sensor can comprise one or more cameras. In suchembodiments, the camera can be placed on the robot in such a way thatthe package space can be observed before and after the removal of thepackage by the first delivery recipient. The camera can then capturevisual images of the package space, and, using image processing it canbe determined whether the correct package has been extracted. This caneither be done by the processing component of the robot, and/or by aserver that receives images from the camera, and/or by a remote terminalsuch as a remote operator monitoring the process of package handover. Insome embodiments, the camera can be placed on the lid of the robot. Inother embodiments, the camera can be placed on the edge of the packagespace, or within it. There can be more than one camera to view thepackage space from multiple angles and provide more informationconcerning its contents. This can also be advantageous in case one ofthe cameras fails or becomes obscured.

The package sensor can comprise one or more RFID (Radio FrequencyIdentification) readers. In such embodiments, each package can comprisean RFID tag. The RFID tag can, for example, comprise a semiconductorchip with an antenna. The RFID reader can, for example, be an activereader. That is, the RFID reader can periodically send out radiofrequency waves to its surroundings. The tags, which can be passive, canuse the energy of the received radio waves to send back a response. Saidresponse can comprise some data stored on the RFID tag. Note, that thereader can also be passive and the tags active, or both can be active (amix is also possible, where, for example, a tag is passive, butcomprises a battery for actively sending back replies). More concretely,the robot can comprise an RFID reader that periodically checks whetherall of the packages are still within a certain distance from it, thatis, still within the package space. This can be done by verifyingwhether all the packages respond to the signal sent out by the RFIDreader. After providing access to the package space, the RFID reader candetermine which package with its corresponding RFID tag has beenremoved, and pass on this information to the robot's processingcomponent. The robot can then either process this itself, or forward theinformation via its communication component. This type of package sensoris particularly advantageous, as radio frequency identification allowsfor very fast information exchange without any visual input. That is,the orientation of packages within the package space has no effect onthe RFID reader's ability to determine that they are there. Anotheradvantage is that RFID allows for very precise identification, that is,the chance of misidentification is low. Further, as an RFID sensor onlyinteracts with particular RFID tags, there is no privacy concern such asin the case of cameras, which can also capture the first deliveryrecipient. Finally, the location of the RFID sensor within or on therobot need not be in the vicinity or within the package space. As itoperates using radio waves, an RFID sensor can be located whenever it isconvenient to place it, and still be effective.

The package sensor can also comprise a weight sensor, or a scale. Insuch embodiments, the weight sensor can be implemented under the packagespace. The weight sensor can then periodically weigh the package space.For example, the weight sensor can weigh the package space while therobot is loaded with each of the packages to be delivered, and thenweigh the package space whenever access to it is provided. In this way,the exact weight of each package can be measured and transmitted to therobot's processing component for further manipulation and/or storage.When the first delivery recipient removes a package, the weight sensorcan measure the weight of the package space and determine whether thepackage with the correct weight has been removed. This can beadvantageous, as a weight sensor is simple to implement and can providerelatively accurate results in a simple and efficient way. The weightsensor does not rely on visual input, which may become blocked by otherpackages and/or by objects in front of the lens, or on the proximity ofthe object to the robot like the RFID sensor. That is, a weight sensorcan determine whether the correct package has been removed while stillin the vicinity of the first delivery recipient.

The package sensor can also comprise a motion sensor. In suchembodiments, the motion sensor can be built into the robot in such a waythat when the first delivery recipient removes a package, this motion isdetected. For example, the motion sensor can be built into the lid ofthe package space and/or into its walls, and/or placed on its edge. Insome such embodiments, each package further comprises at least onepackage ID, such as a Barcode, a QR code, or the like. The firstdelivery recipient can be asked to scan such a package ID on theirpersonal mobile device and/or on a scanner built into the robot. Therobot and/or an external server can then determine whether the correctpackage has been removed. If the first delivery recipient reaches againinto the package space, this motion can be detected by the motionsensor. If no subsequent package ID is scanned, or if a package IDbelonging to a wrong package is scanned, the first delivery recipientcan be prompted to return the incorrectly removed package, which can bedetected by the motion sensor.

In some embodiments, the step of using first data from the packagesensor to verify that the correct package has been removed comprises oneor a combination of the following uses of different package sensors. Thepackage space can be weighted with a weight sensor prior to and/or afterthe removal of the package by the first delivery recipient.Alternatively or additionally, a visual camera can take visual images ofthe package space prior to and after the removal of the package by thefirst delivery recipient. These visual images can be transferred to therobot's processing component. Additionally or alternatively, the visualimages can be sent to a remote terminal such as a remote operator and/orto a computer vision system to identify whether the correct package hasbeen removed. Additionally or alternatively, the package space can beprompted or scanned with an RFID scanner that is preferably equipped onthe mobile robot and/or within it. In such embodiments, the RFID scannercan determine whether the package with the correct RFID tag has beenremoved. Additionally or alternatively, motion within the package spaceor around it can be detected with a motion sensor to indicate that thefirst delivery recipient retrieved a parcel. The first deliveryrecipient can then be prompted to scan a package ID such as a barcode ora QR code or the like to verify that the correct package has beenremoved. This can be done via the first delivery recipient's personalcomputing device and/or via the robot itself using an integratedscanner. As noted above, the package sensor can be a combination ofseveral sensors operating under different principles. Similarly, thestep of using first data from the package sensor to verify whether thecorrect package has been removed can be a combination of using aplurality of sensors in different ways to confirm with a higherlikelihood whether the correct package has been removed.

In some embodiments, the first data obtained by the package sensor isthen processed by the robot's processing component. The processingcomponent can comprise a system on a chip, a standard CPU and/or GPU ora combination thereof. A person skilled in the art will recognize thatthe robot can utilize a plurality of widely available processingcomponents similar to the ones in personal computing devices (such asmobile phones, tablets and the like), and/or utilize a custom processingcomponent better adapted to the robot's uses. The processing componentcan then process the first data obtained from the package sensor todetermine or verify whether the correct package has been removed fromthe package space. The result of such processing can comprise aprobabilistic evaluation for example. In such embodiments, theprocessing component may determine that if the probability of the wrongor unauthorized package being removed exceeds a certain value, it is tobe assumed that the wrong package has been removed. In such embodiments,the robot can self-sufficiently assess the available first data andconclude that the first delivery recipient removed the wrong package.This can be advantageous, as the mobile robot can locally process thefirst data without sending it to a remote server or such and potentiallyspeed up the verifying process. Additionally, it removes the need tocentrally coordinate the delivery process by a remote server, leading toa system capable of modular functioning. Even further, if, for somereason, the robot's communication component is not operative during thepackage handover, the robot can still verify that the correct packagehas been removed. For example, in embodiments where the communicationcomponent comprises one or more SIM cards or modems or network devices,one or more of them could lose connectivity at the point of packagehandover, which would lead to the robot's inability to send and receivesecond data related to packages. Therefore, it can be particularlyadvantageous to have the robot locally evaluate the package sensor'sfirst data.

In other preferred embodiments, the robot's communication component canbe adapted to exchange second data with a remote server. In suchembodiments, the communication component can, for example, send thefirst data collected or obtained by the package sensor to a remoteserver to be analysed (which is referred to as “second data” when sentby the communication component, as discussed above). The remote servercan then analyse said second data and determine whether the correctpackage has been removed from the package space. This can beparticularly advantageous in embodiments where the remote server hasmore computational resources than the robot's processing component. Insuch embodiments, the remote server can evaluate the package sensor'sfirst data faster and/or more reliably. In some embodiments, this isalso done in a probabilistic manner, as described above. That is, insome embodiments, the server can compute the probability of a wrongpackage having been removed from the package space. If said probabilityexceeds a certain threshold, the server can determine that the wrongpackage has been removed. The server can then send the result of thisverification and/or computation to the robot's communication component.The server can also send a certain command to the robot based on thepackage sensor's first data. This command can relate to the furthercourse of action. For example, if the server determines that the correctpackage has been removed, the command can comprise commanding the mobilerobot to depart from the delivery location and proceed with furtherdeliveries and/or return to an initial location if all planned deliverylocations have been visited. If the server determines that an incorrectpackage has been removed, the command can comprise informing the firstdelivery recipient of unauthorized package removal, as described below.

In some other preferred embodiments, the robot's communication componentcan be adapted to exchange second data with an operator terminal orremote operator. This can be done either directly, or via the remoteserver. As described above, the remote operator can comprise a personthat can control the robot during its semi-autonomous operation. In someembodiments, the remote operator can also supervise the process ofdelivery handover. That is, the remote operator can receive first datafrom the robot's package sensor (sent by the communication component,and referred to as “second data” then) and determine whether the correctpackage has been retrieved. This can be advantageous, as it can befaster and more efficient for a human to evaluate the package sensor'sfirst data. It can also be advantageous, as a human can react faster tounforeseen or unexpected situations, such as the first deliveryrecipient interfering with the package sensor and/or with the robotand/or with the packages. The remote operator can also send a commandand/or a transmission to the mobile robot via its communicationcomponent. This command can be as described above, that is a command todepart the present delivery location and/or a command to engage thefirst delivery recipient and inform them that the wrong package has beenremoved as described below. The transmission from the remote operatorcan comprise directly engaging the first delivery recipient via therobot's two-way audio communication components such as speakers and amicrophone for example.

Note, that a combination of the robot's processing component, remoteserver and a remote operator evaluating the package sensor's first datais also possible. For example, the robot's processing component canroughly pre-process the package sensor's data before sending it out, andthe server could do a fine analysis. Other combinations are alsopossible, particularly in cases where it cannot be clearly determinedwhether the correct package has been removed. For example, if the robotcannot determine with a sufficiently high probability that a correctpackage has been removed, it can send a request to the server and/or tothe remote operator to verify the package sensor's first data and/or toengage the first delivery recipient in order to obtain further data.

In some embodiments, the delivery method further comprises the step ofinforming the first delivery recipient that they removed a wrong package(that is, a package they are not authorized to remove, e.g. the secondpackage addressed to the second delivery recipient) if the packagesensor outputs that a wrong package has been removed. That is, when therobot's processing component and/or an external server and/or a remoteoperator receives output from the package sensor indicating that thewrong package has been removed, this can trigger either an automatic ora semi-automatic or a manual response. For example, the robot can emit avisual signal such as a light pattern and/or an audio signal such as awarning tone or an alarm indicating to the delivery recipient that anincorrect package has been retrieved. A recorded message could also beplayed in embodiments where the robot comprises speakers or a similaraudio device. Additionally or alternatively, a remote server can send amessage such as a text message or a notification to the first deliveryrecipient's mobile device indicating that the wrong package has beenretrieved. Additionally or alternatively, the remote server and/or theremote operator can use the mobile robot to communicate with the firstdelivery recipient. For example, in some preferred embodiments, therobot comprises speakers. In such embodiments, an audio message could beplayed from them indicating that the wrong package has been retrieved.In embodiments where the operator terminal comprises a human, they canengage directly with the first delivery recipient through the robot'sspeakers and/or additionally a microphone. Additionally oralternatively, an automatic or a manual call could be placed on thefirst delivery recipient's personal computing device to inform them ofunauthorized package removal.

In some preferred embodiments, if it has been determined that the secondpackage is not in the package space, the method can further compriseprompting the first delivery recipient to return the second package tothe package space. This can be done, for example, using the methodsdescribed above. The method can further comprise determining whether thesecond package has been returned to the package space. That is, therobot and/or the server and/or the remote operator can attempt tocommunicate with the first delivery recipient in order to recover thesecond package. During and/or after such attempts, the package sensorcan measure further first data, and it can be determined whether thesecond package has been returned to the package space. This can beparticularly advantageous, as the first delivery recipient could havetaken the wrong package by mistake and would return it after prompting.In this case, the robot and/or the server and/or the remote operator candetermine that the second package is present in the package space, andcontinue on to the second delivery recipient.

The robot will know and/or check whether there is a second package inthe package space, which is to be delivered to a second deliveryrecipient at a second delivery location. If the second package for thesecond delivery recipient is present in the package space, the robotproceeds to the second delivery location to deliver the second package.If, however, the first delivery recipient has erroneously taken thesecond delivery recipient's package and this has not been corrected asdescribed above, the robot will not proceed to the second deliverylocation since there is no second package to be delivered to the secondrecipient.

In some preferred embodiments, the initial location that the robotdeparts from to the first delivery location can comprise a hub. A hubcan be any structure adapted to house, service, maintain, rechargeand/or load the robot. The hub can comprise, for example a storagecontainer. The hub can also comprise a warehouse, a garage, or aspecific space within a business. The hub can also be mobile andcomprise a truck or a trailer. The robot can be loaded with packageswithin the hub and then departs to various delivery locations from it.The robot can then return to the hub. Alternatively, the robot canreturn to a different hub.

In some embodiments, the processing component of the mobile robot can befurther configured to navigate the mobile robot to a first deliverylocation. This can be done using a plurality of sensors attached to therobot and/or saved map data of the robot's path and/or externalinstructions from the server and/or from the operator terminal. Theprocessing component can be further configured to enable access to thepackage space to the first delivery recipient. That is, the packagespace can be covered by a lid secured with an electronic lock. Theprocessing component can be adapted to lock and/or unlock said lock uponreaching the first delivery location and/or upon some other externalcommand and/or preprogramed circumstances. The processing component canbe further configured to identify to the first delivery recipient thefirst package that the first delivery recipient is authorized to removefrom the package space. This can be done, for example, by sending thefirst delivery recipient an image of the package space with theirpackage identified, an image of their package itself, and/or a graphicalsign that is present on the package. The processing component canfurther be configured to verify that the first delivery recipient onlyremoved the first package using the package sensor. That is, theprocessing component can process the package sensor's data to determinewhich package has been removed and/or the remaining contents of thepackage space. Note, that in some other embodiments, any of the tasksdescribed in the above paragraph can also be performed by the serverand/or by the remote operator.

In some embodiments, the processing component of the mobile robot can befurther configured to determine whether a second package intended for asecond delivery recipient remains in the package space. As mentionedabove, this refers to the processing component using the package sensordata to determine the presence and/or absence of the second package. Theprocessing component can be further configured to navigate the mobilerobot to the second delivery location only if the second package ispresent in the package space. That is advantageous, as if the secondpackage is no longer present in the package space, the mobile robotshould not proceed to the second delivery location. In this case, themobile robot can be adapted to reject planned travel to a seconddelivery location and/or receive a communication from the server and/orfrom the remote operator concerning further course of action. If thereare further packages present in the package space, the mobile robot canproceed to further delivery locations to deliver them. If not, themobile robot can return to an initial location and/or proceed to a finallocation (such as, for example a storage, maintenance and/or reloadingplace such as a hub). As above, the tasks and functions described inthis paragraph can be performed partially and/or completely by theserver and/or by the remote operator in some other embodiments. Note,that in the present text, “remote operator”, “external operator” and“operator terminal” are used interchangeably and can refer to the sameelement.

In some embodiments, the processing component can be further configuredto prompt the delivery recipient to return the second package and to usefurther first data obtained by the package sensor to determine whetherthe second package has been returned to the package space. As describedabove, this is useful in case the first delivery recipient mistakenlytakes the second package and returns it upon prompting.

It is understood from the foregoing that the package sensor can beadapted to measure first data reflective of the presence or absence ofeach of a plurality of packages in the package space, and the identityof each such package by virtue of a package ID such as a barcode, a QRcode or a similar code and/or other specific package characteristic suchas dimensions, weight, visual characteristics, RF tags and so on. Thus,the processing component and/or a server that the robot is adapted tocommunicate with via its communication component, and thereby anoperator at the initial terminal and/or at the remote terminal, willknow which package(s) is/are in the package space, at any given instant.

Note, that in the present document, the terms “first package” and“second package” are used in the singular to refer to the respectivepackages that the mobile robot can deliver to the respective deliveryrecipients. However, it is entirely possible that a plurality ofpackages is addressed to one delivery recipient. Therefore, it isimplied that “first package” can, in fact, refer to a plurality ofpackages all addressed to the first delivery recipient (or at least thatthe first delivery recipient is authorized to remove from the robot'spackage space). The same applies to the “second package”.

As used in the present document, the word “package” can refer to anydeliverable item. That is, the package can comprise mail, parcels,groceries, purchases, plants, flowers, take-out or the like.

Below, further numbered embodiments of the invention will be discussed.

1. A mobile robot delivery method for delivering a first package (20) toa first delivery recipient (60) at a first delivery location, the methodcomprising:

a. providing a mobile robot (1) comprising package space (10) containingat least first and second packages (20, 22) for delivery, at least onepackage sensor (30), at least one processing component (3) and at leastone communication component (5); andb. the mobile robot (1) travelling to the first delivery location; andc. enabling access to the package space (10) to the first deliveryrecipient (60); andd. identifying to the first delivery recipient (60) the first package(20) that the first delivery recipient (60) is authorized to remove fromthe package space (10); ande. verifying that the first delivery recipient (60) only removed thefirst package (20) using the at least one package sensor (30); andf. determining whether a second package (22) intended for a seconddelivery recipient remains in the package space (10); andg. the mobile robot (1) travelling to a second delivery location only ifthe second package (22) remains in the package space (10).

2. A method according to the preceding embodiment wherein the step oftravelling to a first delivery location comprises the mobile robot (1)semi-autonomously and/or autonomously driving from and initial locationto the first delivery location.

3. A method according to any of the preceding embodiments wherein thestep of enabling access to the package space (10) comprises at least oneor a combination of automatically detecting that the first deliverylocation has been reached and opening a lid (40), and/or unlocking atleast one electronic lock (50), and/or opening the lid (40) and/orunlocking the at least one electronic lock (50) when receiving an openinput and/or command and/or signal from the first delivery recipient(60) and/or from a remote terminal (120).

4. A method according to any of the preceding embodiments furthercomprising at least one or more of

-   -   (i) sending the first delivery recipient (60) an image of the        package space (10) with the first package (20) clearly indicated        and/or identified;    -   (ii) sending the first delivery recipient (60) an image of the        first package (20); and    -   (iii) visually identifying the first package (20) with a        graphical sign and communicating said sign to the first delivery        recipient (60).

5. A method according to any of the preceding embodiments wherein thestep of using the package sensor (30) to verify that only the firstpackage (20) has been removed comprises at least one or more of:

-   -   (i) weighing the package space (10) with a weight sensor prior        to and/or after the removal of the package (20, 22) by the first        delivery recipient (60);    -   (ii) taking visual images of the package space (10) with a        visual camera prior to and after the removal of the package by        the first delivery recipient (60) and transferring visual images        to a remote terminal and/or to a computer vision system to        identify whether the correct package has been removed;    -   (iii) scanning the package space (10) with an RFID scanner        equipped on the mobile robot (1) to determine whether only the        first package (20) has been removed based on its RFID tag; and    -   (iv) detecting motion within the robot's package space (10) with        at least one motion sensor.

6. A method according to any of the preceding embodiments wherein stepe. further comprises requesting the first delivery recipient (60) toscan a package ID (32) on the first package (20), preferably a barcodeand/or a QR code, preferably by a mobile device such as a smartphone,tablet, wearable device and/or a comparable device.

7. A method according to any of the preceding embodiments wherein theprocessing component (3) of the robot (1) is adapted to perform the stepof verifying whether only the first package (20) has been removed fromthe package space (10) using at least first data obtained by the packagesensor (30).

8. A method according to any of the preceding embodiments wherein thecommunication component (5) of the robot (1) is adapted to send firstdata obtained by the package sensor (30) to a server (70), and whereinthe server (70) is adapted to analyze said first data to verify whetheronly the first package (20) has been removed from the package space(10).

9. A method according to any of the preceding embodiments wherein thecommunication component (5) of the robot (1) is adapted to send firstdata obtained by the package sensor to a remote terminal (120), andwherein the remote terminal (120) is adapted to determine whether onlythe first package (20) has been removed from the package space (10).

10. A method according to any of the preceding embodiments furthercomprising the step of el. Informing the first delivery recipient (60)that they removed a wrong package (22) if the package sensor (30)outputs first data indicating that the second package (22) has beenremoved by the first delivery recipient.

11. A method according to the preceding embodiment wherein informing thefirst delivery recipient (60) comprises at least one or more of:

-   -   (i) activating an alarm, and/or playing a recorded message,        and/or sending a text message to a first delivery recipient's        mobile device;    -   (ii) calling the first delivery recipient's mobile device and        playing a recorded message;    -   (iii) calling the first delivery recipient's mobile device and        connecting them with an operator terminal (120); and    -   (iv) activating a speaker on the first delivery recipient's        mobile device through which an operator terminal (120) can        communicate with the first delivery recipient (60).

12. A method according to any of the preceding embodiments and withfeatures of embodiment 10, further comprising prompting the firstdelivery recipient (60) to return the second package (22) to the packagespace (10) and determining whether the second package (22) has beenreturned to the package space (10).

13. A method according to any of the preceding embodiments furthercomprising, upon determining that the second package (22) has beenremoved from the package space (10) by the first delivery recipient(60),

(i) prompting the first delivery recipient (60) to return the secondpackage (22) and(ii) determining, via the package sensor (10), whether the secondpackage (22) has been returned to the package space (10).

14. A mobile robot (1) adapted to securely deliver a first package (20)to a first delivery recipient (60) at a first delivery location,comprising:

a. at least one package space (10) configured to hold at least twopackages (20, 22); andb. at least one package sensor (30) configured to at least measure firstdata reflective of the presence or absence of at least one package; andc. at least one processing component (3) configured to at least receivethe package sensor's (30) first data and process it; andd. at least one communication component (5) configured to at least sendand receive second data.

15. A mobile robot according to the preceding embodiment wherein thepackage sensor (30) is adapted to measure first data relating to thepackage (20, 22) removed from the package space (10) and/or first datarelating to the packages (20, 22) within the package space (10).

16. A mobile robot (1) according to any of the preceding embodimentswherein the at least one package sensor (30) is configured to measurefirst data reflective of the presence or absence of each of a pluralityof packages in the package space, and the identity of each such package.

17. A mobile robot (1) according to any of the preceding embodimentswherein the processing component (3) is adapted to determine whetheronly the first package (20) has been removed from the package space(10).

18. A mobile robot (1) according to any of the preceding embodimentswherein the communication component (5) is adapted to communicate withat least one server (70), preferably to exchange second data relating tothe robot's packages (20, 22).

19. A mobile robot (1) according to the preceding embodiment wherein thecommunication component (5) is adapted to send package sensor's firstdata to the server (70) and wherein the server (70) is adapted todetermine whether only the first package (20) has been removed from thepackage space (10) and send the result of said determination to therobot's communication component (5).

20. A mobile robot (1) according to the preceding embodiment wherein theserver (70) is further adapted to send at least one command to themobile robot (1) via its communication component (5), said command basedat least partially on the package sensor's (30) first data.

21. A mobile robot (1) according to any of the preceding embodimentswherein the communication component (3) is adapted to exchange packagesensor (30) first data with at least one remote terminal (120) andwherein the remote terminal (120) is adapted to determine whether onlythe first package (20) has been removed from the package space (10).

22. A mobile robot (1) according to the preceding embodiment wherein theprocessing component (5) is adapted to receive at least one commandand/or transmission from the remote terminal (120) via the communicationcomponent (3).

23. A mobile robot (1) according to any of the preceding embodimentswherein the package sensor (30) comprises at least one camera adapted toat least take visual images of the package space (10).

24. A mobile robot (1) according to any of the preceding embodimentswherein the package sensor (30) comprises at least one RFID (RadioFrequency Identification) reader and each of the packages (20, 22)comprises at least one RFID tag.

25. A mobile robot (1) according to any of the preceding embodimentswherein the package sensor (30) comprises at least one weight sensoradapted to at least weight the contents of the package space (10).

26. A mobile robot (1) according to any of the preceding embodimentswherein the package sensor (30) comprises at least one motion sensor andeach package (20, 22) comprises at least one package ID (32), preferablyat least one barcode and/or at least one QR code and/or at least onecomparable code.

27. A mobile robot (1) according to any of the preceding embodimentswherein the processing component (3) is adapted to determine whether thefirst delivery recipient (60) retrieved the wrong package (22) and takean action based on this.

28. A mobile robot (1) according to the preceding embodiment wherein theprocessing component (3) and/or a server (70) that the robot (1) isadapted to communicate with via its communication component (5) isadapted to do one or more of:

-   -   (i) activating an alarm;    -   (ii) playing a recorded message;    -   (iii) sending a communication such as a text message to a first        delivery recipient's mobile device such as a smartphone, tablet,        wearable device and/or a comparable device via the communication        component (5),    -   (iv) calling the first delivery recipient's mobile device and        playing a recorded message,    -   (v) calling the first delivery recipient's mobile device and        connecting them with a remote terminal (120) directly, and    -   (vi) activating a speaker through which a remote terminal (120)        can communicate with the first delivery recipient (60) via the        mobile robot's (1) communication component (5).

29. A mobile robot (1) according to any of the preceding embodimentswherein the mobile robot (1) and/or a server (70) that the robot (1) isadapted to communicate with via its communication component (5) isadapted to identify the first package (20) to the delivery recipient(60).

30. A mobile robot (1) according to the preceding embodiment, whereinthe identification comprises sending an image of the package space (10)with the first package (20) indicated to the first delivery recipient(60).

31. A mobile robot (1) according to embodiment 29, wherein theidentification comprises sending the first delivery recipient (60) animage of the first package (20).

32. A mobile robot (1) according to embodiment 29, wherein theidentification comprises visually identifying the correct package with agraphical sign and communicating said sign to the first deliveryrecipient (60).

33. A mobile robot (1) according to any of the preceding embodiments,wherein the processing component (3) is further configured to:

-   -   (i) navigate the mobile robot to a first delivery location;    -   (ii) enable access to the package space (10) to the first        delivery recipient (60);    -   (iii) identify to the first delivery recipient (60) the first        package (20) that the first delivery recipient (60) is        authorized to remove from the package space (10); and    -   (iv) verify that the first delivery recipient (60) only removed        the first package (20) using the at least one package sensor        (30).

34. A mobile robot (1) according to any of the preceding embodiments,wherein the processing component (3) is further configured to:

-   -   determine whether a second package (22) intended for a second        delivery recipient remains in the package space (10); and    -   navigate the mobile robot (1) to the second delivery location        only if the second package (22) is still in the package space        (10).

35. A mobile robot (1) according to any of the preceding embodiments,wherein upon determining that the second package (22) has been removedfrom the package space (10), the processing component (3) is furtherconfigured to prompt the first delivery recipient (60) to return thesecond package (22) and to use further first data obtained by thepackage sensor (30) to determine whether the second package (22) hasbeen returned to the package space (10).

The above features along with additional details of the invention, aredescribed further in the examples below, which are intended to furtherillustrate the invention but are not intended to limit its scope in anyway.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1a, 1b, 1c, 1d depict embodiments of the mobile robot according toone embodiment of the invention.

FIG. 2a, 2b depict an embodiment of a delivery method according to oneembodiment of the invention.

FIG. 3 depicts an embodiment of a delivery method according to oneembodiment of the invention.

FIG. 4 depicts a flowchart of method of delivering packages according toone embodiment of the invention.

FIG. 5 depicts a flowchart of a delivery method according to oneembodiment of the invention.

DESCRIPTION OF VARIOUS EMBODIMENTS

In the following, exemplary embodiments of the invention will bedescribed, referring to the figures. These examples are provided toprovide further understanding of the invention, without limiting itsscope.

In the following description, a series of features and/or steps aredescribed. The skilled person will appreciate that unless required bythe context, the order of features and steps is not critical for theresulting configuration and its effect. Further, it will be apparent tothe skilled person that irrespective of the order of features and steps,the presence or absence of time delay between steps, can be presentbetween some or all of the described steps.

FIGS. 1a, 1b, 1c, and 1d depict embodiments of a mobile robot 1according to one aspect of the invention. The mobile robot 1 compriseswheels 102 adapted to drive the mobile robot 1 at least to and fromdelivery locations. In the depicted embodiment, the robot 1 comprisessix wheels 102, but the number can be variable. The mobile robot 1 canalso comprise 3, 4, 5, 7, 8 or more wheels.

The mobile robot 1 further comprises at least one package space 10. Thepackage space 10 is depicted as a substantially rectangular box or cube,but it does not need to be. In some embodiments, the package space 10can comprise rounded edges or comprise other shapes. The package space10 can comprise, for example, a basket placed within a cavity of therobot 1. This can be advantageous to allow fast loading and unloading ofthe robot 1. The package space 10 can also comprise a compartment,cavity or slot within the robot 1.

The mobile robot 1 further comprises packages 20, 22. The packages 20,22 are placed within the package space 10. They are schematicallydepicted in the figure as rectangular boxes, but can comprise any othershape. In some embodiments, packages 20, 22 can comprise mail,documents, groceries, take-out, packages, and/or other items to bedelivered.

The mobile robot 1 further comprises at least one package sensor 30. Thepackage sensor 30 can comprise one or a plurality of sensors. Thepackage sensor 30 can be placed on a lid 40 of the mobile robot 1, on aninner wall of the package space 10, on the bottom surface of the packagespace 10, or anywhere else within the robot 1. The placement of thepackage sensor 30 can depend on its nature.

For example, in embodiments where the package sensor 30 comprises avisual camera 30, it can be advantageous to place the visual camera 30on the inner surface of the lid 40. This is schematically demonstratedin FIG. 1a . In such embodiments, the visual camera 30 can also beplaced on the inner wall of the package space 10, as schematicallydepicted in FIG. 1b . The visual camera 30 can be adapted to record animage and/or a series of images at certain time intervals, and/or beforeand after the package space 10 is accessed by the first deliveryrecipient 60. The images can either be processed by the robot 1,transferred to a server via the robot's communication component (notdepicted), and/or conveyed to a remote terminal, for example operated bya remote operator (not depicted) to be evaluated. The remote operatorcan, for example, visually recognize that more than one package has beenretrieved, or that a wrong package has been retrieved. Alternatively oradditionally, the images from the visual camera 30 can be processed viamachine vision to determine whether the correct package has beenretrieved.

In other embodiments, the package sensor 30 can comprise a weight sensor30. In such embodiments, the weight sensor 30 can be placed on thebottom surface of the package space 10 or under it within the robot 1.This is schematically depicted in FIG. 1c . The weight sensor can beadapted to weigh the package space 10 and determine which packages havebeen retrieved. For example, if package 20 weights 500 g and package 22weights 2 kg, the weight sensor can determine which packages have beenretrieved by weighing the package space 10 before and after the firstdelivery recipient gains access to the package space 10.

In other embodiments, the package sensor 30 can comprise an RFID reader30. In such embodiments, the packages 20, 22 can comprise RFID tags. Theplacement of the RFID reader 30 in such embodiments can vary. In suchembodiments, the RFID reader can periodically verify that the packageswith the correct RFID tags remain in the robot's package space 10.

In other embodiments, the package sensor 30 can comprise a motion sensor30. Such motion sensor can be a passive infrared detector, a microwavedetector, an ultrasonic detector or another motion sensor. Such motionsensor can be for example placed on the inner wall of the package space10 as schematically depicted in FIG. 1b , on the floor of the packagespace 10 as depicted in FIG. 1c or elsewhere. In such embodiments, themotion sensor 30 can detect when a first delivery recipient (60) hasretrieved a package from the package space 10. The motion sensor can becombined with other sensors, such as the weight sensor for more precisedata acquisition.

In some other embodiments, the packages 20, 22 can comprise a package ID32, such as a QR code 32 or a barcode 32 placed directly on the packages20, 22. This is schematically depicted in FIG. 1d . In such embodiments,the first delivery recipient (not depicted) can, for example, scan thecode with a mobile device to confirm that the correct package 20, 22 hasbeen retrieved. The package sensor 30 can also comprise a combination ofsensors. For example, a combination of a weight sensor 30 and a packageID 32 can be used. In such embodiments, the first delivery recipient(not pictured) can be asked to scan a code on their package, and therobot can double check that only the package that was scanned wasremoved via weighing the package space 10 after package retrieval.Additionally or alternatively, a combination of a motion sensor 30 and apackage ID 32 can be used. The motion sensor 30 can detect when thefirst delivery recipient retrieves a package 20, 22 and the firstdelivery recipient can then be asked to scan the package ID 32 on theirmobile device. If the package ID 32 is not correct, the first deliveryrecipient can return the package 20, 22 to the package space 10 (whichcan be detected by the motion sensor 30) and then retrieve the correctpackage 20, 22 and scan it on their mobile device. The motion sensor 30can also be combined with a weight sensor 30 allowing to implement aless sophisticated weight sensor 30. In this case, when the firstdelivery recipient retrieves the package 20, 22, the motion sensor 30will detect this, and the weight sensor 30 can detect the weightdifference and confirm that the correct package has been retrieved.

The mobile robot 1 can further comprise a lid 40. The lid 40 is adaptedto cover the package space 10 during the robot's travelling from aninitial location to the first delivery location. The lid 40 is adaptedto protect the packages within the package space 10 from the elements,that is from rain, snow, sun, hail, sand, dust or similar, as well asfrom theft, vandalism and/or damage. The robot 1 can further comprise alock 50. The lock 50 can be an electronic lock. The lock 50 can beadapted to open when the delivery location is reached. For example, thelock 50 can be adapted to open when the robot detects that the deliverylocation is reached, via a GPS sensor and/or another sensor.Alternatively or additionally, the lock 50 can be adapted to open whenthe robot 1 receives an “open” input from an outside source. Forexample, the first delivery recipient (not pictured) can enter a code ora command on a mobile device that makes the lock 50 unlock.Alternatively or additionally, a remote terminal, preferably with aremote operator monitoring the robot (not shown), could give the commandto unlock lock 50. A server (not pictured) communicating with acommunication component of the robot could also give said command. Thelock 50 can be adapted to lock again once the package has been retrievedby the first delivery recipient. The lock 50 is schematically depictedon the outer surface of the robot 1, but can also be placed on the inneror outer surface of lid 40, between the lid 40 and the package space 10or elsewhere.

FIGS. 2a and 2b depict one embodiment of the package sensor 10operating. In FIG. 2a , a first delivery recipient 60 has retrievedpackage 20 from the package space 10. The package sensor 30 detects thatthe first delivery recipient 60 has retrieved the correct package 20. Inother words, package 20 is addressed to the first delivery recipient 60,but package 22 is not. The package sensor 30 can be adapted to detectthat package 22, schematically representing all packages that are notaddressed to the first delivery recipient 60, remains within the packagespace 10. The processing component of the robot (not depicted) canreceive first data from the package sensor 30 and output that thecorrect package has been retrieved. The delivery process can thus becompleted and the robot 1 can depart to deliver further packages 22.

In FIG. 2b , the first delivery recipient 60 retrieved package 22instead of package 20 from the package space 10. This package is notaddressed to the first delivery recipient 60. The package sensor 30 canthen detect this and send the measurement data to the robot's processingcomponent (not depicted). The processing component can then output thatthe wrong package has been retrieved. The first delivery recipient 60can then be notified of the mistake and/or theft. For example, robot 1can sound an alarm. Robot 1 can also transmit the notice of wrongpackage retrieval to a server and/or to a remote terminal (notdepicted). The server and/or the remote terminal, or the remote operatorcan then contact the first delivery recipient 60 directly and/or throughthe robot. For example, the server and/or the remote operator can send amessage to a mobile device of the first delivery recipient 60, can callit and/or use speakers on the robot to notify the first deliveryrecipient 60 that a wrong package has been retrieved. Once the mistakeand/or theft is corrected and only the correct package is retrieved fromthe package space 10, the package can be completed, and the robot canproceed to travel to the next delivery location and/or elsewhere.

FIG. 3 depicts an embodiment of the communications in the securedelivery process according to one embodiment of the invention. Robot 1can be adapted to travel from an initial location 110 to a firstdelivery location 62. In some embodiments, the initial location 110 cancomprise a home base, or robot base or hub. In some embodiments, this isthe location where the robot can be stored, maintained and/or loadedand/or unloaded.

The first delivery recipient 60 can be notified that the robot 1 hasarrived at the delivery location 62 via a mobile device for example.This can be a cell phone, a tablet, a personal computer, a wearabledevice and/or a comparable device. In some embodiments, the firstdelivery recipient 60 can be notified of which package within thepackage space 10 of the robot 1 is addressed to them. This can be done,for example, by sending an image or a picture of the package space 10with the correct package 20 highlighted or otherwise indicated on theimage. This can be advantageous, as the first delivery recipient 60would know which package 20 is addressed to them even before accessingthe package space 10, which reduces the possibility of mistake whenretrieving a package, and speeds up the delivery process.

The robot 1 can be adapted to communicate with a server 70 via acommunication component 5. The server 70 can communicate with a remoteterminal 120 and with the first delivery recipient 60. In someembodiments, the robot 1 can also directly communicate with the remoteterminal 120 and/or with the first delivery recipient 60 via the robot'scommunication component 5.

When the robot's package sensor 30 (not depicted) detects first dataindicating that a wrong package 22 (not depicted) has been retrieved,the robot 1 can process this via a processing component 3 and send thissecond data to the server 70 and/or to the remote terminal 120 forfurther processing and/or actions via the communication component 5. Forexample, the server 70 can send an automated message to the firstdelivery recipient 60 warning them that the wrong package has beenremoved. Alternatively or additionally, the remote terminal 120 candirectly communicate with the first delivery recipient 60 via theirmobile device for example in case of complications during the deliveryprocess. The remote terminal 120 can, for example, supervise a pluralityof mobile robots 1 simultaneously, ready to take action if a problemarises during the delivery process for one or a plurality of them. Theremote terminal 120 can, for example comprise a remote operator, that isa person with a computing device.

In some embodiments, the first delivery recipient 60 can contact theserver 70 and/or the remote terminal 120 if difficulty arises before,during or after the delivery process. For example, if they are unable tolocate their package 20 (not shown) within the package space 10 (notshown), they can request automated or operator assistance.

It is understood from the foregoing that package sensor 30 can beadapted to measure first data reflective of the presence or absence ofeach of a plurality of packages 20, 22 in the package space 10, and theidentity of each such package 20, 22 by virtue of the package ID 32 suchas a barcode, a QR code or a similar code and/or other specific packagecharacteristic such as dimensions, weight, visual characteristics, RFtags and so on. Thus, the processing component 3 and/or a server 70 thatthe robot is adapted to communicate with via its communication component5, and thereby an operator at the initial terminal 110 and/or at theremote terminal 120, will know which package(s) is/are in the packagespace, at any given instant.

FIG. 4 shows a schematic embodiment of the delivery method according toone aspect of the invention. The robot 1 (not shown) can first travelfrom an initial location such as a robot home base, robot base and/or ahub to the delivery location 62 (not shown). The robot can then enableaccess to the package space 10 (not shown) for the first deliveryrecipient 60 (not shown). The robot 1 and/or the server 70 (not shown)and/or the remote terminal 120 (not shown) can communicate dataidentifying the correct package 20 (not shown) to the first deliveryrecipient. Note, that in general, the steps do not have to be performedin this order, and in particular, the step of identifying the correctpackage 20 to the first delivery recipient 60 can be done first.

The robot 1 can then verify whether the correct package 20 has beenretrieved. That is, whether the retrieved package 20 is the oneaddressed to the first delivery recipient 60. This can be done via thepackage sensor 30 (not shown). If only the correct package 20 has beenremoved, the delivery process can terminate and the robot 1 can departthe delivery location 62. If the wrong package 22 has been retrieved,the robot 1 can then notify the first delivery recipient of the mistakevia different options. The robot 1 can sound an alarm and/or the robot 1can contact the server 70 and/or the remote operator 120 who can thencontact the first delivery recipient 60 via their mobile device and/orvia the robot 1 directly. Once the mistake has been rectified and onlythe correct package 20 retrieved from the robot's package space 10, thedelivery process can terminate, and the robot 1 can depart the deliverylocation 62.

FIG. 5 depicts a flowchart of a delivery method according to oneembodiment of the invention. As discussed above, the mobile robot cantravel to a delivery location or a first delivery location. The robotcan travel autonomously and/or semi-autonomously using a plurality ofsensors for navigation and/or localisation. Once at the deliverylocation and/or a first delivery location, the access to the packagespace can be enabled—either by the robot itself and/or by a remoteserver and/or by a remote operator. The first delivery recipient canthen have access to the package space. In practice, this can simply meanthat an electronic lock is unlocked, and a lid covering the packagespace can now be opened in order to access the package space. The firstdelivery recipient can be the recipient of one of the packages in therobot's package space and/or a person authorized to receive the package.The correct package can first be identified to the first deliveryrecipient. As previously discussed, this can be done prior to the mobilerobot arriving to the delivery location. For example, the first deliveryrecipient can be sent a picture or an image of the correct deliveryeither on its own or directly within the robot's package space (with thecorrect delivery clearly identified on the image). Additionally oralternatively, the correct delivery can be identified via a particulardesign, such as a colour, a picture and/or a symbol. For example, asticker and/or a label identifying the package can be fixed to theoutside. This can be preferable to a sticker and/or a label identifyingthe first delivery recipient for privacy reasons. Once the firstdelivery recipient removes a particular package from the package space,it can be checked whether the correct package has been removed. (asshown in FIG. 4)—This can be done by using the package sensor to obtainfirst data. This first data can then be processed and/or evaluatedeither by a processing component of the mobile robot, and/or by a remoteserver, and/or by a remote operator in order to determine whether thecorrect package has been removed. At this point, it can also bedetermined whether a second package intended for a second deliveryrecipient remains in the package space. That is, the first data obtainedby the package sensor can be used not only to determine whether thecorrect package has been removed, but also to determine whether thesecond package remains in the package space. If the second package doesremain in the package space, the mobile robot can proceed to travel to asecond delivery location in order to deliver said second package. If,however, it is determined that the second package is not in the packagespace, the mobile robot can reject and/or abort travelling to a seconddelivery location. That is, in the case that the delivery recipientand/or a third party removed the second package, the robot can adjustthe planned route by removing the second delivery location from it.Additionally or alternatively, the robot can request an input forfurther action from a remote server and/or from a remote operator. Note,that after determining that the second package is not within the packagespace, the robot and/or the server and/or the remote operator can informthe first delivery recipient and/or a third party that an unauthorizedpackage has been removed in an attempt to recover said package. In thiscase, the process of verifying whether the second package remains in thepackage space can be repeated in order to determine whether it has beenreturned to the package space after a prompt to do so. If this is notthe case after a certain number of potentially escalating prompts and/ora certain time interval, the robot and/or the server and/or the remoteoperator can then stop attempting to retrieve the second package andreject and/or abort travelling to a second delivery location. In thiscase, the robot can take several different courses of action. If afurther package still remains within the package space, the robot canproceed to a further delivery location to deliver this package. If nofurther package is present, the robot can return to an initial locationfrom which it started on its delivery route and/or return to a differentfinal location according either to a pre-planned route and/or accordingto further instructions from the server and/or from the remote operator.

Note, that in the specific embodiments discussed in relation to figures,elements pertaining to a device and elements pertaining to a method werediscussed. As the present invention describes both a device and a methodfor secure package delivery, elements relating to the device can be partof the method and elements pertaining to the method can be part of thedevice.

As used herein, including in the claims, singular forms of terms are tobe construed as also including the plural form and vice versa, unlessthe context indicates otherwise. Thus, it should be noted that as usedherein, the singular forms “a,” “an,” and “the” include pluralreferences unless the context clearly dictates otherwise.

Throughout the description and claims, the terms “comprise”,“including”, “having”, and “contain” and their variations should beunderstood as meaning “including but not limited to”, and are notintended to exclude other components.

The term “at least one” should be understood as meaning “one or more”,and therefore includes both embodiments that include one or multiplecomponents. Furthermore, dependent claims that refer to independentclaims that describe features with “at least one” have the same meaning,both when the feature is referred to as “the” and “the at least one”.

It will be appreciated that variations to the foregoing embodiments ofthe invention can be made while still falling within the scope of theinvention can be made while still falling within scope of the invention.Features disclosed in the specification, unless stated otherwise, can bereplaced by alternative features serving the same, equivalent or similarpurpose. Thus, unless stated otherwise, each feature disclosedrepresents one example of a generic series of equivalent or similarfeatures.

Use of exemplary language, such as “for instance”, “such as”, “forexample” and the like, is merely intended to better illustrate theinvention and does not indicate a limitation on the scope of theinvention unless so claimed. Any steps described in the specificationmay be performed in any order or simultaneously, unless the contextclearly indicates otherwise.

All of the features and/or steps disclosed in the specification can becombined in any combination, except for combinations where at least someof the features and/or steps are mutually exclusive. In particular,preferred features of the invention are applicable to all aspects of theinvention and may be used in any combination.

What is claimed is:
 1. A mobile robot (1) adapted to deliver a firstpackage (20) to a first delivery recipient (60) at a first deliverylocation prior to delivering a second package (22) to a second deliveryrecipient at a second delivery location, without reloading the robotbetween delivery locations, said robot (1) comprising: (i) at least onepackage space (10) holding at least said first package (20) and saidsecond package (20); (ii) at least one package sensor (30) configured tomeasure first data reflective of the presence or absence of at least oneof the packages; (iii) at least one processing component (3) configuredto receive and process the package sensor's (30) first data; and (iv) atleast one communication component (5) configured to send and receivesecond data.
 2. The mobile robot (1) according to claim 1, wherein thepackage sensor (30) is adapted to measure first data relating anypackages (20, 22) removed from the package space (10) and/or first datarelating to the any packages (20, 22) remaining within the package space(10).
 3. The mobile robot (1) according to claim 1, wherein the at leastone package sensor (30) is configured to measure first data reflectiveof the presence or absence of each of a plurality of packages in thepackage space, and the identity of each such package.
 4. The mobilerobot (1) according to claim 1, wherein the processing component (3) isadapted to determine whether only the first package (20) has beenremoved from the package space (10) at the first delivery location. 5.The mobile robot (1) according to claim 1, wherein: the mobile robot'scommunication component (5) is adapted to communicate with at least oneexternal server (70) and exchange second data relating to the packages(20, 22); the communication component (5) is adapted to send the packagesensor's first data to the server (70); and the server (70) is adaptedto determine whether only the first package (20) has been removed fromthe package space (10) at the first delivery location and send a resultof said determination to the robot's communication component (5).
 6. Themobile robot (1) according to the claim 5, wherein the server (70) isfurther adapted to send at least one command to the mobile robot (1) viathe mobile robot's communication component (5), said at least onecommand based at least partially on the package sensor's (30) firstdata.
 7. The mobile robot (1) according to claim 1, wherein: thecommunication component (3) is adapted to exchange the package sensor'sfirst data with at least one remote terminal (120), and the remoteterminal (120) is adapted to determine whether only the first package(20) has been removed from the package space (10) at the first deliverylocation.
 8. The mobile robot (1) according to claim 1, wherein thepackage sensor (30) comprises one or more of: (i) at least one cameraadapted to at least take visual images of the package space (10); (ii)at least one RFID (Radio Frequency Identification) reader configuredread RFID tags attached to the packages (20, 22); (iii) at least oneweight sensor adapted to weigh the contents of the package space (10);and (iv) at least one motion sensor configured to detect removal of atleast one of the packages (20, 22) based on a package ID (32) attachedto each of the package (20, 22).
 9. The mobile robot (1) according toclaim 1, wherein: the processing component (3) and/or a server (70) withwhich the robot (1) is adapted to communicate, is adapted to determinewhether the first delivery recipient (60) retrieved the second package(22) and take action comprising one or more of: (i) activating an alarmon the robot (1); (ii) playing a recorded message on the robot (1);(iii) sending a message to the first delivery recipient's mobilecomputing device; (iv) calling the first delivery recipient's mobiledevice and playing a recorded message; (v) calling the deliveryrecipient's mobile device and connecting them with a remote terminal(120) directly; and (vi) activating a speaker on the robot (1) throughwhich a remote terminal (120) can communicate with the first deliveryrecipient (60) via the mobile robot's (1) communication component (5).10. The mobile robot (1) according to claim 1, wherein the mobile robot(1) and/or a server (70) with which the robot (1) is adapted tocommunicate, is adapted to identify the first package (20) to the firstdelivery recipient (60).
 11. The mobile robot (1) according to claim 10,wherein the identification comprises at least one or more of: (i)sending an image of the package space (10) with the first package (20)indicated to the first delivery recipient (60); (ii) sending the firstdelivery recipient (60) an image of the first package (20); and (iii)visually identifying the first package (20) with a graphical sign andcommunicating said sign to the first delivery recipient (60).
 12. Themobile robot (1) according to claim 1, wherein the processing component(3) is further configured to: (i) navigate the mobile robot to the firstdelivery location; (ii) enable the first delivery recipient (60) toaccess the package space (10); (iii) identify to the first deliveryrecipient (60) the first package (20) that the first delivery recipient(60) is authorized to remove from the package space (10); (iv) verify,with the at least one package sensor (30); that the first deliveryrecipient (60) removed only the first package (20); (v) determinewhether the second package (22) intended for the second deliveryrecipient remains in the package space (10); and (vi) navigate themobile robot to the second delivery location only if the second package(22) is still in the package space (10).
 13. The mobile robot (1)according to claim 1, wherein, the processing components is furtherconfigured to: determine whether the second package (22) has beenremoved from the delivery space (1), when the mobile robot is at thefirst delivery location; and upon determining that the second package(22) has been removed from the delivery space (10) at the first deliverylocation: (i) prompt the first delivery recipient (60) to return thesecond package (22); and (ii) determine, based on further first dataobtained by the package sensor (30), whether the second package (22) hasbeen returned to the package space (10).